Structural verification system and method

Abstract

An automated storage and retrieval system with structural verification is provided. The system includes a structure having a plurality of sections designed for mobile robots to travel through. It is also specially equipped with control circuitry that performs the following functions: receives data from a sensor system of a mobile robot as it moves through the sections of the structure, compares this data to a design map to identify any deviations, and updates a mapping file based on these deviations. This updated mapping file is then used by the mobile robot for subsequent navigation within the structure.

Description

[0001] (one or more) related applications This application claims the benefit of U.S. Provisional Application No. 63 / 627349, filed January 31, 2024, which is incorporated herein by reference in its entirety. Technical Field

[0002] This invention relates to automated storage and retrieval systems, and more particularly to structural verification of such systems using mobile robots. Background Technology

[0003] Automated Storage and Retrieval Systems (ASRS) have become increasingly important in supply chain management. One example of this growing demand is seen in the grocery industry, where order fulfillment centers operate to efficiently fulfill customer orders. These facilities typically include storage sections with access points to allow items to be retrieved and stored as needed. These items can be stored in temperature-controlled areas within the storage sections. Typically, boxes or containers are used to store items in desired locations. An example order fulfillment center contains a multi-level structure with horizontal rows for accessing various storage sections. Mobile robots are able to move along these horizontal rows to retrieve or store boxes as needed and assist in fulfilling customer orders. Attached Figure Description

[0004] This document discloses embodiments of devices, systems, and methods for structural verification using mobile robots. This description includes accompanying drawings, in which: Figure 1A and Figure 1B This is an illustration of a robot storage and retrieval system according to several embodiments; Figure 2 This is a block diagram of a structural verification system according to several embodiments; Figure 3 This is a flowchart of a method for structural verification according to several embodiments; Figure 4 This is a flowchart of a system initialization process according to several embodiments; Figure 5 This is a flowchart of a process for continuous system verification according to several embodiments; Figure 6 These are illustrations of a mobile robot according to several embodiments; and Figure 7 This is a flowchart of a method for structural verification according to several embodiments.

[0005] The elements in the accompanying drawings are shown for simplicity and clarity and are not necessarily drawn to scale. For example, the size and / or relative positioning of some elements in the drawings may be exaggerated relative to other elements to aid in understanding the various embodiments of the invention. Furthermore, common but well-known elements that are useful or necessary in commercially viable embodiments are often not depicted to facilitate less obstructed views of these various embodiments of the invention. Certain actions and / or steps may be described or depicted in a particular order of occurrence, and those skilled in the art will understand that such specificity regarding the sequence is not actually required. The terms and expressions used herein have the ordinary technical meaning that those skilled in the art would assign to such terms and expressions as set forth above, unless otherwise set forth herein with a different specific meaning. Detailed Implementation

[0006] Generally, according to various embodiments, systems, apparatuses, and methods are provided herein for structural verification using mobile robots. In some aspects, the techniques described herein relate to a structural verification system comprising a structure having multiple segments and control circuitry configured to allow a mobile robot to traverse the structure. The control circuitry is configured to receive data captured from the mobile robot's sensor system as the mobile robot traverses a segment of the structure, compare the data captured by the sensor system with a design drawing of the structure to detect deviations associated with that segment, update a drawing file based on the deviations, and wherein the mobile robot is configured to subsequently traverse the structure at least based on the drawing file.

[0007] It should be understood that this embodiment may be implemented in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the invention to those skilled in the art. In fact, these embodiments are intended to cover alternatives, modifications, and equivalents to these embodiments, which are included within the scope and spirit of the invention as defined by the appended claims. Furthermore, specific details are set forth in the following detailed description to provide an understanding of this embodiment.

[0008] Now for reference Figure 1A and Figure 1B Examples of a certain type of structure are shown, which can be verified by some embodiments of the systems and methods described herein. In some embodiments, the systems and methods described herein can verify storage structures with different configurations and / or other types of structures. Figure 1A A partial view of an embodiment of an order fulfillment facility 100 is shown, which has a storage structure 102 that includes compartments 104 of storage locations 106.

[0009] In some embodiments, the storage structure 102 may be formed by a number of storage modules 110. Each compartment 104 defined by the storage modules 110 includes a yz array of storage locations 106 in a horizontal row and a layer-changing tower along each row; in this embodiment, the layer-changing tower may be a vertical tower. A mobile robot 148 may travel between storage layers along the z-direction within the layer-changing tower. The storage modules 110 form pairs of compartments 104 arranged facing each other, separated by aisles 108. The aisles 108 may have a width such that the mobile robot 148 traveling within the aisles 108 can transfer containers to compartments 104 on either side of the aisles 108. The mobile robot 148 may also transport boxes containing goods back and forth to the portal for storing and retrieving items from the storage structure 102.

[0010] The order fulfillment facility 100 may further include platforms 112 spaced apart at different horizontal levels of the storage structure 102. Platforms 112 may extend between aisles, enabling a mobile robot 148 to maneuver in the xy-plane of each platform to travel between different aisles. At least one of the platforms 112 may also extend into a corresponding aisle to allow technicians to enter aisle 108 to repair components within the aisle.

[0011] Figure 1A An example of an integrated steering platform 115 is also shown. The steering platform 115 can be positioned at different vertical locations between storage modules 110. The steering platform 115 may have steering platform input / output 115-I / Os, which may be aligned with aisle 108 or another steering platform input / output 115-I / O. The steering platform 115 enables the mobile robot 148 to efficiently change its direction of travel through storage structure 102.

[0012] The order fulfillment facility 100 may further include mobile robots 148 for transferring boxes or other product or order containers to and from the customer access portal and storage location 106 in compartment 104. The mobile robots 148 may be self-guided and / or track-guided to move horizontally and vertically within aisle 108, thereby transferring boxes or other product containers between the mobile robots 148 and storage location 106.

[0013] Now for reference Figure 1BThis diagram illustrates a track system 180 that may be part of a storage structure 102 according to some embodiments. The storage structure 102 is a multi-layered structure, and the track system 180 includes horizontal rails 181 fixed to different vertical layers. The horizontal rails 181 provide access to storage shelves on either side of the aisle 108 in the x-direction at a given layer. In some embodiments, the ends of one or more horizontal rails 181 are coupled to a platform 112 or a steering platform 115. In some embodiments, the storage structure 102 further includes a vertical layer-changing tower 182 with vertical rails within which a mobile robot can travel vertically between layers of storage location 106 in the z-direction. In some embodiments, the structure 102 may further include a ramp that allows a mobile robot to move between layers via an incline. The storage structure 102 may also include other support elements, such as braces 187 or columns 186.

[0014] In some embodiments, the storage structure 102, horizontal rail 181, vertical transfer tower 182, steering platform 115, diagonal brace 187, and / or column 186 may include various features used by the mobile robot 148 for positioning and navigation within the storage structure 102. For example, structural features may include component connections (e.g., between the horizontal rail 181 and platform 112, and between the horizontal rail 181 and vertical transfer tower 182), track gaps (e.g., between segments of the horizontal rail 181), support elements (e.g., brace 187), fasteners (e.g., screws or clamps connecting one or more components of the structure), and / or electrical components (e.g., charging rails or pads). In some embodiments, features may include markers 185 that encode location identifiers providing navigation guidance. Markers 185 may be optical, electromagnetic, and / or physical markers. In some embodiments, each marker 185 may contain a unique 3D coordinate value corresponding to its position within the structure. In some embodiments, the mobile robot 148 may store a map file of the storage structure 102, the map file containing the positions of one or more markers 185. Upon receiving a destination, the mobile robot 148 may determine its position within the structure 102 and / or control its movement and operation based on its position relative to one or more sensed markers 185. In some embodiments, the mobile robot 148 may be used to measure the dimensions and / or other characteristics of the components of the storage structure 102 via these features. References herein Figures 2 to 6 Further details of an embodiment of the structural verification process are described in more detail.

[0015] For example, further details of usable storage structures and mobile robots are described in the following U.S. patents and patent applications: U.S. Patent No. 9,139,363, entitled "Automated System for Transporting Loads," issued September 22, 2015; U.S. Patent No. 10,435,241, entitled "Storage and Retrieval System," issued October 8, 2019; U.S. Patent No. 11,142,398, entitled "Order Fulfillment System," issued October 12, 2021; and U.S. Patent No. 1,114,2398, entitled "Engineer with Mobile Robot and Human Operator for Each..." U.S. Patent No. 10,984,375, entitled “A Picking Workstation with Machine Vision Verification for Transfer”; U.S. Patent No. 10,952,533, entitled “Modular Structure for an Automated Storage and Retrieval System”, granted March 23, 2021; U.S. Patent No. 11,267,651, entitled “A System with a Workstation Having a Box Holding and Releasing Mechanism”, granted March 8, 2022; and U.S. Patent Application No. 63 / 127,762, entitled “A Miniature Fulfillment Center Using a Mobile Robot for Automated Distribution and Return and a Method of Operation Thereof”, filed December 18, 2020. Each of these patents and applications is incorporated herein by reference in its entirety.

[0016] Next reference Figure 2 This diagram illustrates a system for fulfilling pickup orders. The system includes one or more mobile robots 210 and a central computer system 220.

[0017] Central computer system 220 includes control circuitry 221, memory 223, and network interface device 227. Central computer system 220 may include one or more of a server, central computing system, cloud-based computing engine, desktop computer system, personal computer, portable device, etc. Control circuitry 221 may include a processor, microprocessor, central processing unit (CPU), graphics processing unit (GPU), application-specific integrated circuit (ASIC), etc., and may be configured to execute computer-readable instructions stored on computer-readable storage memory 223. Computer-readable storage memory 223 may include volatile and / or non-volatile memory and stores a set of computer-readable instructions thereon that, when executed by control circuitry 221, cause central computer system 220 to perform architecture verification via one or more mobile robots 210 and send instructions for execution by one or more mobile robots 210. In some embodiments, the computer-executable instructions may cause control circuitry 221 of central computer system 220 and / or one or more mobile robots 210 to perform one or more functions described herein, such as referencing... Figures 3 to 5The steps described herein. In some embodiments, memory 223 may further store design drawings, such as computer-aided design (CAD) models of structures on which the mobile robot 210 travels. For example, memory 223 may store references herein. Figure 1A and Figure 1B The described storage structure 102 is a design drawing. In some embodiments, the design drawing may correspond to a designed configuration of the structure and may include dimensions and feature locations from a design model upon which the structure is initially assembled. In some embodiments, the memory 223 may further store drawing files containing the design drawing and a delta file. The design drawing is configured for navigation by a robot, and the delta file is determined based on sensor data collected by a sensor system based on one or more mobile robots. In some embodiments, the delta file indicates the difference between the designed configuration and the constructed configuration of the structure.

[0018] Network interface device 227 may include a data port, a wired or wireless network adapter, etc. In some embodiments, central computer system 220 may communicate with mobile robot 210 via one or more networks (such as a local network, a private network, a cloud computing network, or the Internet). In some embodiments, central computer system 220 may further communicate with other systems and devices (such as an order database, an inventory database, a staff user interface device, a customer user interface device, etc.).

[0019] Mobile robot 210 is a motorized unit configured to travel over a structure. In some embodiments, mobile robot 210 may be configured to travel over a storage structure to retrieve and / or store items and / or boxes. In some embodiments, mobile robot 210 may be a reference... Figure 1B The mobile robot 148 is described. The mobile robot 210 includes a control circuit 211, a memory 213, a network interface 217, a sensor system 215, and a drive system 219.

[0020] Control circuitry 211 may include a processor, microprocessor, central processing unit (CPU), graphics processing unit (GPU), application-specific integrated circuit (ASIC), etc., and may be configured to execute computer-readable instructions stored on computer-readable storage memory 213. Computer-readable storage memory 213 may include volatile and / or non-volatile memory and stores thereon a set of computer-readable instructions that, when executed by control circuitry 211, cause mobile robot 210 to move autonomously or semi-autonomously in its structure via drive system 219 and to collect data via sensor system 215. In some embodiments, the computer-executable instructions may cause control circuitry 211 of mobile robot 210 to perform one or more functions described herein, such as referencing… Figures 3 to 5The steps described herein. In some embodiments, memory 213 may further store copies of drawing files, such as 3D navigation diagrams of a computer-aided design (CAD) model of a structure on which the mobile robot 210 traverses. In some embodiments, the drawing files may further include delta files, as described in more detail herein, which are determined based on sensor data collected from sensor data collected by a sensor system based on one or more mobile robots.

[0021] Sensor system 215 may include one or more sensors for providing data for autonomous navigation and / or storage and retrieval functions. In some embodiments, sensor system 215 may include one or more of optical sensors, radio frequency identification (RFID) sensors, vibration sensors, sound sensors, tachometers, odometers, pressure sensors, voltmeters, accelerometers, gyroscopes, magnetometers, temperature sensors, humidity sensors, and / or inertial measurement units (IMUs). In some embodiments, sensor system 215 is configured to detect structural features such as optical markers, RFID tags, structural features, track connections, track clearances, fastening elements (e.g., bolts, clamps), support elements (e.g., columns, braces), and / or electrical elements (charging rails or pads).

[0022] The drive system 219 may include systems for providing and controlling the structural movement of the mobile robot 210. In some embodiments, the drive system 219 may include motors, wheels, gears, etc.

[0023] Figure 6 An example of a mobile robot 210 is shown. The mobile robot 210 includes an item / box carrying section 610, front drive wheels 630, vertical climbing gears 635, a power storage unit 620, rear wheels 648, and charging contacts 640. In some embodiments, sensors of the sensor system 215 may be coupled to any part of the mobile robot 210. For example, optical sensors may be coupled to the front, sides, and / or rear of the mobile robot 210. In some embodiments, the sensor system 215 may be configured to sense features by measuring vibration, acceleration, velocity, etc., via one or more of the drive wheels 630, wheels 648, and vertical climbing gears 635. In some embodiments, the sensor system 215 may be configured to detect the presence of a charging rail or pad via the contacts 640.

[0024] Next reference Figure 3 This illustrates a method for verifying a structure. In some embodiments, Figure 3 One or more steps may be performed by a processor-based device that executes computer-readable instructions stored on a memory device. In some embodiments, Figure 3 One or more steps can be referenced in this article. Figure 2The central computer system 220 and / or mobile robot 210 or other similar device described herein are used to perform this action. In some embodiments, Figure 3 The procedures shown can be implemented during the initial setup of the system, as part of regular maintenance and inspection, and / or as continuous monitoring / scanning when the mobile robot is performing a task on the structure.

[0025] In step 310, a task is sent to a mobile robot for execution. In some embodiments, the task may be defined by a central computer system. In some embodiments, the task may be a structural verification task. For example, the mobile robot may be configured to travel at a normal speed for storing and retrieving items, and at a slower speed (e.g., 80%, 50%, etc.) for structural verification. In some embodiments, the task may be a storage and / or retrieval task, and the robot may capture data en route to or from the storage location. In some embodiments, the mobile robot may be one of a plurality of mobile robots configured to perform storage and retrieval tasks on a structure. In some embodiments, the mobile robot may be a unit specifically designed for structural verification, such as a unit equipped with additional sensors. In some embodiments, the task may sequentially specify one or more destination locations in the structure. In some embodiments, the task may further specify one or more actions to be performed at one or more destination locations. For example, a task instruction may specify a storage location for retrieving or returning a box. In some embodiments, a drawing file may be sent to the mobile robot's onboard memory, such as memory 213 of mobile robot 210.

[0026] In step 320, the mobile robot travels along the structure and captures data. In some embodiments, the mobile robot may be configured to travel between locations indicated by a drawing file 390 (indicating routes and features on the structure) of the central computer system and sense features on the actual structure. In some embodiments, the robot may travel based on a design drawing of the structure. In some embodiments, the design drawing may be a CAD model upon which the structure is initially constructed / assembled. In some embodiments, for initial structure calibration / verification, the drawing file may contain only the design drawing. In some embodiments, the robot may further travel based on a drawing file containing δ values ​​indicating the difference between the actual structure and the design drawing and / or containing a model of the actual structure determined based on measurement data from one or more mobile robots.

[0027] In some embodiments, the mobile robot may determine a route to the indicated destination based on the map and determine the timing of movement (such as starting, stopping, turning, and / or box transfer actions) based on detecting features / markers on the structure along the route. For example, upon receiving a task to retrieve a box from location A, the robot may determine that it needs to travel along horizontal track A to a distance x cm beyond feature A to climb vertical track A, or that it needs to travel along horizontal track B to a distance y cm beyond feature B and stop to retrieve the box. The mobile robot may determine when to decelerate to switch tracks, when to begin climbing, and when to stop to retrieve the box based on detected features (such as marks on the structure).

[0028] The mobile robot captures data along its route via a sensor system, such as sensor system 215. In some embodiments, the sensor system includes optical sensors, radio frequency identification (RFID) sensors, vibration sensors, sound sensors, tachometers, odometers, pressure sensors, voltmeters, accelerometers, gyroscopes, magnetometers, temperature sensors, humidity sensors, and / or inertial measurement units (IMUs). In some embodiments, the mobile robot can sense features such as optical markers, RFID tags, structural features, track connections, track clearances, fastening elements, support elements, and / or electrical components. In some embodiments, the robot can measure distances between features, detect acoustic or vibrational properties of the track, measure track angles (e.g., upslope or downslope), measure electrical connections at charging contacts, measure torque of wheels or gears, etc.

[0029] In some embodiments, the captured data may include one or more detected features, each associated with a capture location. In some embodiments, the capture location may be determined based on the distance traveled by the mobile robot's drive system from a reference point in the structure (e.g., another feature). In some embodiments, the captured data includes unique 3D coordinate values ​​from a marker, corresponding to the marker's position in the structure. In some embodiments, the data may correspond to data captured by the robot for navigation purposes. In some embodiments, the mobile robot may use additional sensors and / or collect data that would not normally be collected for navigation when in verification mode.

[0030] In step 330, the sensor data collected in step 320 is compared with the structural design drawing to detect discrepancies. In some embodiments, step 320 may be performed by a central computer and / or a mobile robot. In some embodiments, the robot may determine the expected feature locations based on the design drawing and record any mismatches between the expected feature locations and the actual detected locations. For example, if the robot encounters mark B earlier or later than expected based on the design drawing when moving from mark A to mark B, the deviation may be identified and stored. In some embodiments, the recorded sensor data may be sent to a central computer system for analysis. In some embodiments, the central computer system may compare the collected data with a design model or system diagram that contains more information than a drawing file stored on the mobile robot. In some embodiments, IMU or tachometer data may be used to determine whether components are sufficiently level or at the designed angle. In some embodiments, data may be compared to determine whether the system has the expected acoustic, vibration, thermal, and / or texture distribution. For example, acceptable acoustic, vibration, thermal, and / or texture ranges may be defined for one or more sections of the designed structure, and measurements exceeding the acceptable range may be flagged as deviations. In some embodiments, the central computer system and / or the mobile robot may simulate sensor data of the mobile robot along the segment based on a design drawing, wherein deviations are detected by comparing data captured by the sensor system with the simulated sensor data.

[0031] If no deviation is detected, the mobile robot can continue traversing the structure and performing tasks based on the drawing file. If a deviation is detected in step 340, the system can determine whether the deviation exceeds a correction threshold and / or whether it belongs to the type of action requiring correction for the correct or efficient operation of the system. If the deviation is significant (e.g., exceeding a threshold or belonging to the type requiring correction), an alarm can be generated in step 360 to notify the operator. For example, if the distance between two features deviates from the design drawing by more than 30%, the operator can be notified to perform structural repairs or adjustments. In some embodiments, a significant deviation may also cause the system drawing used by the central storage system and / or the central robot control system to be updated. The alarm can identify the location and measurement results associated with the detected defect.

[0032] If the deviation is minor (e.g., below a threshold or requiring no correction), the drawing file can be updated in step 350. For example, a delta file can be added to the drawing file 390 to reflect the detected deviation. In some embodiments, the drawing file can be updated. For example, the delta file can indicate that marker A is 0.2 cm further from marker B compared to the design drawing. In some embodiments, the system can set a threshold difference (e.g., 0.05 cm) for updating the drawing file. In some embodiments, the drawing file can be determined based on data captured by multiple robots. For example, the delta value can be the average of the differences detected by three mobile robots that have recently traveled through the same area. In some embodiments, the drawing file 390 can include delta values ​​associated with different features in different segments of the structure, the delta values ​​being determined based on data from different mobile robots. In some embodiments, the updated drawing file 390 can be loaded onto the local memory device of each mobile robot traveling on the structure. The mobile robot can then traverse the structure based on the updated drawing file, which includes the delta file to have a more accurate map layout of the constructed structure. For example, the mobile robot can determine when to slow down, stop, or turn based on the feature locations indicated in the delta file and the distance determined by the design drawing.

[0033] Next reference Figure 4 This illustrates the process used to initialize the system. In some embodiments, Figure 4 One or more steps may be performed by a processor-based device that executes computer-readable instructions stored on a memory device, a human operator, and / or a combination thereof. In some embodiments, Figure 4 One or more steps can be referenced in this article. Figure 2 The central computer system 220 and / or mobile robot 210 or other similar device described herein shall be used to perform this action.

[0034] In step 401, an initial system configuration is defined. In some embodiments, a design model may be generated in step 401, which may include a 2D, 3D, or 4D (e.g., time-varying 3D) building information computer model, such as a Revit model. In step 405, a system diagram corresponding to the initial system configuration (e.g., the 3D design model) is determined and stored. In step 407, a robot control system (RCS) diagram may also be stored for use by the robot control system. In some embodiments, the RCS may be less detailed and require lower accuracy compared to the drawing file used by the mobile robot. In step 409, an initial drawing file is determined based on the system design configuration. The drawing file may include a diagram of the structure, which uses coordinate codes (e.g., Universal Coordinate Code (UCC)) and a Structural Local Library (SLL) indicating the dimensions and feature locations of structures, components, and markers within the structure. In some embodiments, markers may each be encoded with a UCC corresponding to their location within the structure. In some embodiments, the design model in step 401, the system diagram in step 405, and the initial drawing file in step 409 may be referred to individually or collectively as the design drawing, as they correspond to the designed configuration of the structure.

[0035] In step 402, a bill of materials (“BOM”) for the system and one or more mobile robots is generated to drive manufacturing. In step 410, the system is manufactured. For example, tracks, fasteners, support elements, markers, etc., may be manufactured based on the BOM at one or more facilities. In step 411, the system is installed. In some embodiments, the system may be installed in a fulfillment facility for storing boxes containing items for order fulfillment. In some embodiments, system installation includes assembling structural components and markers (such as signs and RFID tags) according to a system design model.

[0036] In step 420, the mobile robot is manufactured. For example, the drive system, housing, wheels, etc., of the mobile robot are formed and assembled. The robot can also be “fingerprinted” for the system by loading data onto the mobile robot’s local memory. The data may include discrete data such as travel limits and track data (e.g., the current track during movement). In step 421, the mobile robot is configured. In some embodiments, the configuration process includes loading the designed drawing file from step 409 onto the robot to allow the mobile robot to navigate the structure automatically or semi-autonomously and / or perform tasks. In step 422, the mobile robot is introduced into the system, for example, by physically placing the robot onto the assembled structure and establishing a communication channel between the central computer system and the mobile robot. In step 412, the mobile robot and the structure undergo initial system-level fingerprinting after installation. For example, the robot may travel on the structure and register track data (such as the current track of a climbing tower or vibration characteristics of a gap).

[0037] In step 430, an initial system scan is performed. In some embodiments, a mobile robot may be dispatched to different destinations within the structure to capture data from different parts of the structure. In some embodiments, the mobile robot may be configured to enter a verification mode, in which the mobile robot travels at a reduced speed to collect data with high fidelity. In step 431, a design drawing corresponding to the designed configuration of the structure is compared with the data captured in step 430. In step 432, if the design drawing matches the captured data, or all deviations are within a predetermined tolerance, the drawing file is validated and remains unchanged. If a mismatch is identified in step 432, the degree of inconsistency is determined in step 434. If the inconsistency is greater than a correction threshold (e.g., threshold distance or percentage), an alert for a systemic problem may be generated in step 436. For systemic problems, the system diagram and / or robot system control (RSC) diagram may be modified. In some embodiments, adjustments to the structure and / or system may be performed in response to the detection of a systemic problem. If the inconsistency is less than the correction threshold in step 435, a delta file indicating the difference may be created in step 440 and stored as configured system data. In some embodiments, the configured system data can be used to update or supplement the drawing files used by the mobile robot for navigation.

[0038] Next reference Figure 5 This illustrates the process for continuous verification of the structure. In some embodiments, Figure 5 One or more steps may be performed by a processor-based device that executes computer-readable instructions stored on a memory device, a human operator, and / or a combination thereof. In some embodiments, Figure 5 One or more steps can be referenced in this article. Figure 2 The central computer system 220 and / or mobile robot 210 or other similar device described herein shall be used to perform this action.

[0039] In step 501, data is collected by the mobile robot and / or the system as the mobile robot moves along the structure to perform a task. In some embodiments, data may be collected by multiple components of the system (such as RSC, multiple mobile robots, workstations, etc.) during the normal operation of these components. In some embodiments, the generated data may include alarms, warnings, alerts, and discrete and trace data 510. In some embodiments, the stored data may include device discrete and trace data, fault data, and / or utilization data. In step 520, the collected data can be used for robot-level analysis. In step 521, discrepancies detected via robot-level analysis can generate robot-level alarms / warnings / alerts. In some embodiments, workstations may also perform workstation-level analysis. In step 530, the collected data can also be used for system-level analysis on a server (such as a cloud-based server). In step 531, discrepancies detected via system-level analysis can generate system-level alarms / warnings / alerts. In step 540, robot-level or system-level alarms / warnings / alerts may lead to corrective and / or preventative actions. In some embodiments, corrective and / or preventive actions may include adjustments to the system and / or updates to drawing files, such as delta files.

[0040] Figure 7 This is a flowchart of an example method for plotting a storage retrieval system. In step 710, data is captured using the mobile robot's sensor system as the mobile robot traverses a section of the structure. In some embodiments, the mobile robot may be mobile robot 210 or a similar device. In some embodiments, step 710 may correspond to step 320.

[0041] In step 720, the data captured by the sensor system is compared with the structural design drawings to detect deviations associated with the segment. In some embodiments, step 720 may be performed by the control circuitry of the central computer system 220 and / or the mobile robot 210. In some embodiments, step 720 may correspond to steps 330 and 340.

[0042] In step 730, the drawing file is updated based on the deviation. In some embodiments, step 730 may be performed by the control circuitry of the central computer system 220 and / or the mobile robot 210. In some embodiments, step 730 may correspond to step 350.

[0043] In some embodiments, in the described systems and methods, structures are assembled based on a design model. In some embodiments, dimensions and locations (e.g., via UCC and SLL) may be determined based on design model data to form a “designed” drawing. However, due to various factors such as part tolerances, site inaccuracies, and installation inaccuracies, the assembled system may not be exactly the same as the original design model.

[0044] Manually adjusting the maps used by robots to match the built system can be tedious and time-consuming. Automating the inspection and correction of size and location markers through scanning performed by mobile robots can save time and labor, and reduce errors. In some embodiments, fingerprinting of robots and systems can be performed to establish operational baselines for comparison with future events. In some embodiments, local monitoring of operational data relative to the original fingerprint provides a data source for analysis, leading to predictive maintenance and reduced downtime. In some embodiments, enterprise-level monitoring of operational data across sites also provides a data source for analysis, leading to predictive maintenance and reduced downtime across mobile robot queues.

[0045] In some aspects, the technology described herein relates to a dispenser device comprising: a shopping cart compartment sized to accommodate a shopping cart and accessible from both the fulfillment and pickup sides; a temperature-controlled compartment positioned above the shopping cart compartment and accessible from both the fulfillment and pickup sides; an access door on the pickup side; and an access controller configured to control access to the shopping cart compartment and the temperature-controlled compartment via the access door.

[0046] In some aspects, the technology described herein relates to an item distribution system comprising: a plurality of distributor devices, each distributor device comprising: a shopping cart compartment; a temperature-controlled compartment; and an access door for controlling access to the shopping cart compartment and the temperature-controlled compartment from the pickup side; and a central computer system comprising control circuitry configured to: track the status of the plurality of distributor devices based on communication with access controllers and / or sensor systems of each of the plurality of distributor devices; and provide fulfillment instructions based on the status of the plurality of distributor devices.

[0047] In some aspects, the technology described herein relates to a method of distributing items, the method comprising: receiving an order at a central computer system; associating an item distributor with the order in an order database, the item distributor comprising: a shopping cart compartment sized to accommodate a shopping cart and accessible from both the fulfillment and pickup sides; a temperature-controlled compartment positioned above the shopping cart compartment and accessible from both the fulfillment and pickup sides; and an access controller configured to control access to the shopping cart compartment and the temperature-controlled compartment via an access door on the pickup side; and unlocking the access door via the access controller in response to receiving an unlock request.

[0048] Those skilled in the art will recognize that various other modifications, alterations, and combinations can be made to the embodiments described above without departing from the scope of the invention, and such modifications, alterations, and combinations are to be considered within the scope of the inventive concept.

Claims

1. A structural verification system, comprising: A structure having multiple segments, the multiple segments being configured to allow a mobile robot to traverse the structure; as well as Control circuit, the control circuit being configured to: Data is received from the mobile robot's sensor system, the data being captured as the mobile robot traverses a section of the structure; The data captured by the sensor system is compared with the design drawings of the structure to detect deviations associated with the segment; as well as Update the drawing file based on the aforementioned deviation; as well as The mobile robot is configured to subsequently travel on the structure based at least on the drawing file.

2. The system as claimed in claim 1, wherein, The sensor system includes: optical sensors, radio frequency identification (RFID) sensors, vibration sensors, sound sensors, tachometers, odometers, pressure sensors, voltmeters, accelerometers, gyroscopes, magnetometers, temperature sensors, humidity sensors, and / or inertial measurement units (IMUs).

3. The system as described in claim 1, wherein, The data includes one or more detected features, each of which is associated with a capture location.

4. The system as described in claim 3, wherein, The capture position is determined based on the distance traveled by the mobile robot's drive system from a reference feature in the structure.

5. The system as claimed in claim 1, wherein, The design drawing includes the location of one or more features of the structure, including: optical markings, RFID markings, structural features, track connections, track gaps, fastening elements, support elements, and / or electrical components.

6. The system as claimed in claim 1, wherein, The deviation is detected based on the detection of markers on the structure, each marker encoding a unique 3D coordinate value corresponding to the position of the marker in the structure.

7. The system as claimed in claim 1, wherein, The design drawings include dimensional and feature location information from a computer-aided design (CAD) model, and the structure is assembled according to the CAD model.

8. The system of claim 1, wherein, The drawing file includes a δ value indicating a change relative to the design drawing, and the mobile robot is configured to control its movement based on the δ value and the design drawing.

9. The system as claimed in claim 1, wherein, The control circuit is further configured to simulate sensor data of the mobile robot along the segment based on the design drawing, wherein the deviation is detected by comparing the data captured by the sensor system with the simulated sensor data.

10. The system of claim 1, wherein, The control circuit is further configured to: Receive additional data captured by the second sensor system of the second mobile robot, the additional data being captured when the second mobile robot is traversing the section of the structure based on the drawing file; The data captured by the second sensor system is compared with the design drawing of the structure to detect additional deviations associated with the segment; as well as The plotting file is updated based on the additional deviation.

11. The system of claim 1, wherein, The mobile robot is configured to store a copy of the drawing file on a local memory storage device.

12. The system of claim 1, wherein, The data is captured when the mobile robot is moving to the storage location of the structure to retrieve or store the storage box.

13. The system of claim 1, wherein, The mobile robot is configured to move in at a transport speed to retrieve and return storage boxes, and to move at a scanning speed slower than the transport speed, wherein the data from the sensor system is captured while the mobile robot is moving at the scanning speed.

14. The system of claim 1, wherein, The structure includes a multi-layer structure, and the sections include horizontal sections, vertical sections, and / or slopes.

15. The system of claim 1, wherein, The mobile robot is configured to receive a destination identifier from a central computer system and autonomously traverse the structure toward a location associated with the destination identifier, based on the characteristics and / or markings of the structure.

16. The system of claim 1, wherein, The control circuit includes an onboard processor for the mobile robot.

17. The system of claim 1, wherein, The control circuit includes a central computer system configured to send instructions to the mobile robot and update the drawing file stored on the mobile robot.

18. The system of claim 1, wherein, The control circuit is further configured to: determine whether the deviation exceeds a predetermined threshold, and generate an alarm in response to the deviation exceeding the predetermined threshold.

19. The system of claim 1, wherein the drawing file is updated based on sensor data from multiple mobile robots.

20. A method for drawing a memory retrieval system, comprising: As the mobile robot traverses a section of the structure, data is captured using the mobile robot's sensor system; A control circuit is used to compare the data captured by the sensor system with the design drawings of the structure to detect deviations associated with the segment; as well as The control circuit is used to update the drawing file based on the deviation.

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